Intelligent inspection robot operation device for power transformation and distribution station

Abstract

The intelligent inspection robot running device comprises a main body and a track, a disc groove is formed in the top of the main body, a rectangular groove is formed in the top of the disc groove, the rectangular groove communicates with the disc groove, two first arc-shaped grooves are formed in the top of the main body, and two second arc-shaped grooves are formed in the top of the main body; a sliding groove is formed in the side, close to the first arc-shaped groove, of the rectangular groove, and a threaded rod is rotationally connected into the disc groove. According to the principle, a spring rod is pulled downwards through an auxiliary plate to drive a limiting ring to generate a sliding force, and at the moment, when the limiting ring slides downwards, a connecting rod and a rubber ring are driven to instantly extrude the side wall of the rail, and a counter-acting force opposite to the inertia force generated when the main body stops is generated; a part of shaking of the device due to inertia can be counteracted, so that the vibration of the device during stopping is reduced, and the inspection precision and stability of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robot equipment, and in particular to an intelligent inspection robot operating device for a transformer substation. Background Art

[0002] With the development of science and technology, robotics and automation technologies are gradually being applied to the field of substation inspection. Intelligent inspection robots can automatically run in substations according to preset paths, and carry various sensors (such as cameras, infrared thermal imagers, partial discharge detectors, etc.) to inspect equipment. It can work continuously in complex environments, unaffected by factors such as fatigue and emotions, greatly improving the efficiency and accuracy of inspections; Generally, inspection robots in power distribution rooms basically perform inspections along specific tracks during operation. Since the robots need to stop and inspect different areas during the inspection process, existing robots generally stop by braking the wheels. Since the robots will have a certain inertia when they stop for inspection, they are prone to rush forward a certain distance due to inertia when they stop, which can easily cause the robots to shake and move when they stop for inspection, affecting the accuracy of the inspection as well as the stability during the inspection. Summary of the invention

[0003] The object of the present invention is to provide an intelligent inspection robot operating device for a transformer substation to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is an intelligent inspection robot operation device for a transformer substation, comprising a main body and a track, a disc groove is provided on the top of the main body, a rectangular groove is provided on the top of the disc groove, the rectangular groove is connected to the disc groove, two arc grooves 1 are provided on the top of the main body, two arc grooves 2 are provided on the top of the main body, a sliding groove is provided on one side of the rectangular groove close to the arc groove 1, a threaded rod is rotatably connected inside the disc groove, a gear is fixedly connected to the right side of the threaded rod, a limit plate is rotatably connected to the outer surface of the threaded rod, the bottom of the limit plate is fixedly connected to the bottom inner wall of the disc groove, an electric telescopic rod is fixedly connected to the bottom of the main body, and a detection body is fixedly connected to one end of the electric telescopic rod away from the main body, and further comprising; The rotating mechanism includes a toothed disc rotatably connected to the inner wall of the bottom of the disc groove, two L-plates are fixedly connected to the top of the toothed disc, a short rod is fixedly connected to the top of the L-plate, the short rod penetrates the outer wall of the arc-shaped groove 2 and extends to the outside, the extended end of the short rod is fixedly connected to the arc-shaped plate, and the side wall of the arc-shaped plate is fixedly connected to the oblique groove; The moving mechanism includes a hollow slider slidably connected to the outer surface of the threaded rod, an insert rod is fixedly connected to the inner wall of the hollow slider, and the insert rod is slidably connected to the threaded groove on the outer surface of the threaded rod. Two arc plates 2 are fixedly connected to the side of the hollow slider away from the gear, and a plurality of elastic plates are fixedly connected to the side of the arc plate 2 close to the threaded rod. The plurality of elastic plates are grouped in pairs and symmetrically distributed with the threaded rod as the center, and a sliding plate is fixedly connected between the four elastic plates.

[0005] Furthermore, a long rod is slidably connected inside the inclined groove, an end of the long rod away from the arc plate is fixedly connected to the auxiliary plate, an end of the auxiliary plate away from the arc plate is fixedly connected to a spring rod, the bottom of the spring rod is fixedly connected to a rotating plate, and the top of the spring rod penetrates the outer wall of the arc groove and extends to the outside; The top of the toothed disc is meshed with the gear.

[0006] Further, a return spring is fixedly connected to one side of the hollow slider close to the limit plate, an end of the return spring away from the hollow slider is fixedly connected to the limit plate, a second return spring is fixedly connected to one side of the sliding plate close to the hollow slider, an end of the second return spring away from the sliding plate is fixedly connected to the side wall of the hollow slider, a square plate is fixedly connected to one side of the sliding plate away from the threaded rod, and a side of the square plate away from the sliding plate is slidably connected to the inside of the sliding groove; Wherein, the left side and the right side of the hollow sliding block are both rotatably connected to the rotating plate.

[0007] Furthermore, an expansion mechanism is provided at the top of the disc groove, and the expansion mechanism includes a plurality of elastic plates 2 arranged on the top of the main body, and the plurality of elastic plates 255 are symmetrically distributed in a group with the threaded rod as the center, the left and right sides of the elastic plates 2 are fixedly connected with connecting rods, and the ends of the plurality of connecting rods away from the elastic plates 2 are rotatably connected with limiting rings, and the outer surfaces of the plurality of elastic plates 2 are fixedly connected with rubber rings, and the side of the limiting ring on the right side away from the rubber ring is rotatably connected with the limiting strip, the bottom of the limiting strip is fixedly connected to the top outer wall of the main body, and the bottom of the limiting ring on the left side is rotatably connected to the top of the spring rod.

[0008] Furthermore, an auxiliary mechanism is provided on the side wall of the rubber ring, which includes a tension spring fixedly connected to the side of the limit ring close to the rubber ring, a hollow cylinder fixedly connected between the two tension springs, a plurality of air inlet holes are opened on the top outer wall of the hollow cylinder, and a plurality of air outlet pipes are fixedly connected to the outer surface of the hollow cylinder.

[0009] Furthermore, one end of several air outlet pipes away from the hollow cylinder penetrates through the side wall of the left limiting ring and extends to the outside, and the extended ends of several air outlet pipes are fixedly connected to the air outlet ring. The side of the air outlet ring close to the air outlet pipe is fixedly connected to the side wall of the left limiting ring, and the limiting ring is connected to the interior of the hollow cylinder through the air outlet pipe.

[0010] Furthermore, a sliding mechanism is provided inside the hollow cylinder, and the sliding mechanism includes a sliding shaft slidably connected to the inside of the hollow cylinder, a triangular groove is provided inside the Susonghu sliding shaft, a square groove is provided on the top of the triangular groove, a flexible bag is fixedly connected inside the square groove, straight grooves are provided on the front and back of the triangular groove, a fixing ring is fixedly connected to the outer surface of the sliding shaft, a return spring is fixedly connected to the side of the sliding shaft away from the air outlet ring, and the side of the return spring away from the sliding shaft is fixedly connected to the side wall of the hollow cylinder.

[0011] Furthermore, a shaking mechanism is provided inside the triangular groove, and the shaking mechanism includes a crank rod slidably connected to the inside of the triangular groove, an elastic rod is rotatably connected to the outer surface of the crank rod, an end of the crank rod close to the straight groove penetrates through the outer wall of the straight groove and extends to the outside, an extended end of the crank rod is rotatably connected to the inner wall of the hollow cylinder, an end of the elastic rod close to the air outlet ring penetrates through the outer wall of the hollow cylinder and extends to the outside of the limiting ring, an extended end of the elastic rod is semicircular, and an intermediate plate is rotatably connected to the outer surface of the elastic rod located inside the triangular groove, and an end of the intermediate plate away from the elastic rod is rotatably connected to the side wall of the flexible bag.

[0012] The present invention has the following beneficial effects: 1. According to the present invention, when the main body slides on the track, the arc plate 2 inside the main body will slide backward inside the disc groove through the friction force between the arc plate 2 and the track when the main body moves. When the arc plate 2 moves backward, it will pull the reset spring 1 through the hollow slider to stretch it. Then, when the hollow slider continues to slide with the arc plate 2, the sliding of the hollow slider will push the spring rod to slide inside the arc groove 1 through the rotating plate. When the spring rod is pushed by the rotating plate to slide, the two spring rods will drive the limit ring to contact the side wall of the track. At the same time, when the hollow slider slides, the sliding of the hollow slider will slide in the threaded groove on the surface of the threaded rod through the insertion rod on the inner wall. When the insertion rod inside the hollow slider slides on the surface of the threaded rod, the threaded rod will drive the gear to rotate along the sliding of the insertion rod when the hollow slider slides. When the gear rotates, it will drive the L plate to rotate. When the L plate rotates, it will drive the arc plate to rotate. When the arc plate rotates, it will drive the auxiliary When the auxiliary plate slides downward, the auxiliary plate will drive the limit ring connected to it to rotate downward through the spring rod when sliding downward. When the limit ring rotates, it will drive the connecting rod and the rubber ring on the elastic plate 2 to contact the side wall of the track. Subsequently, when the main body stops moving and starts detection, the stop of the main body will cause the main body to generate a forward sliding force under the action of inertia. When the main body stops and suddenly slides forward, the sliding of the main body will drive the arc plate 2 to slide backward for an instant through friction. When the arc plate 2 slides backward instantaneously, the hollow slider will push the spring rod to slide forward through the rotating plate. Based on the above principle, the spring rod will be pulled downward through the auxiliary plate to drive the limit ring to generate a sliding force. At this time, when the limit ring slides down, it will drive the connecting rod and the rubber ring to instantly squeeze the side wall of the track and generate a reaction force in the opposite direction to the inertia force when the main body stops, which can offset the shaking of part of the device due to inertia, thereby reducing the vibration of the device when it stops, thereby improving the accuracy and stability of the robot inspection.

[0013] 2. According to the present invention, when the arc plate 2 slides forward due to the inertia when it stops and pulls the limiting ring through the spring rod, the limiting ring will pull the elastic plate 2 through the connecting rod after being pulled by the spring rod, and then when the spring rod drives the limiting ring on the left side to slide downward, the connecting rod will drive the elastic plate 2 to squeeze the inner wall of the hollow cylinder. At the same time, when the connecting rod pulls the elastic plate 2, the rubber ring will bulge outward under the pulling of the connecting rod and the squeezing of the hollow cylinder. At this time, the bulged rubber ring can increase the friction between the side wall of the track when the device stops and squeezes the side wall of the track. Therefore, when the device stops for inspection, the increase in friction can further enhance the stability of the main body when it stops, reduce the damage of internal electronic components caused by the shaking of the device, and enhance the efficiency and reliability of the inspection.

[0014] 3. In the present invention, when the limit ring on the left side moves downward, the elastic rod will contact the side wall of the track. Then, when the main body moves, the sliding of the main body will drive the elastic rod to slide synchronously. When the elastic rod slides, the side wall of the track will squeeze the elastic rod. When the elastic rod is squeezed, it will push the crank rod to slide inside the triangular groove. When the elastic rod slides, it will drive the crank rod to rotate upward. When the elastic rod rotates upward, it will pull the flexible bag upward through the middle plate. When the flexible bag moves upward, it will absorb external gas through the air inlet hole, so that external gas can enter. When the sliding shaft moves, the sliding shaft will squeeze the gas inside the hollow cylinder. When the gas is squeezed, it will enter the air outlet ring through the air outlet pipe and spray and clean the side wall of the track through the air outlet ring, thereby reducing the situation where the main body runs poorly or slides on the track due to the presence of impurities and particles, reducing the situation where dust affects the inspection stability when the main body moves, and improving the inspection efficiency.

[0015] 4. In the present invention, when the arc plate 2 slides backward under the action of inertia, the arc plate 2 will drive the sliding plate to slide through the elastic plate. At this time, when the arc plate 2 device slides, the inner wall of the disc groove will squeeze the sliding plate under the instantaneous sliding of the arc plate 2 backward. After being squeezed, the sliding plate will push the elastic plate to tilt backward. At this time, the two arc plates 2 will no longer be supported outward by the elastic plate when the sliding plate slides backward. At this time, the reset spring 1 on the hollow slider will pull the hollow slider to reset under its own elasticity. When the hollow slider is reset, it will drive the spring rod to expand outward along the guidance of the arc groove 1 through the rotating plate. When the spring rod slides backward and expands, the spring The sliding of the rod will push the connecting rod to move relatively and expand outward through the limit ring. When the connecting rod expands outward, the expansion of the connecting rod will drive the rubber ring to expand outward synchronously through the elastic plate 2. When the rubber ring expands outward, it will contact the side wall of the track and generate a lateral force in the direction of the side wall of the track. The lateral friction force generated when the rubber ring squeezes the track can reduce the sliding tendency of the main body when stopping due to foreign particles on the track. At the same time, it can also improve the stopping accuracy of the device on the track, which is helpful for the accurate positioning of the main body during inspection, thereby ensuring that the inspection can be carried out in accordance with the predetermined position and sequence, and improving the accuracy of inspection data collection.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the above advantages at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall partial cross-sectional structure of the present invention; Figure 3 It is a schematic diagram of the main body of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle; Figure 5 It is a schematic diagram of the rotating mechanism of the present invention; Figure 6 It is a schematic diagram of the mobile mechanism of the present invention; Figure 7 It is a schematic diagram of the expansion mechanism of the present invention; Figure 8 It is a schematic diagram of the sliding mechanism of the present invention.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows: In the figure: 1. main body; 101. disc groove; 102. arc groove 1; 103. arc groove 2; 104. threaded rod; 105. sliding groove; 2. rotating mechanism; 201. toothed disc; 202. L plate; 203. arc plate; 204. rotating plate; 205. spring rod; 3. moving mechanism; 301. hollow slider; 302. arc plate 2; 303. elastic plate; 304. sliding plate; 305. square plate; 4. expansion mechanism; 4 01. Elastic plate 2; 402. Connecting rod; 403. Limiting ring; 404. Rubber ring; 405. Limiting strip; 5. Auxiliary mechanism; 501. Hollow cylinder; 502. Air outlet pipe; 503. Air outlet ring; 504. Air inlet hole; 6. Sliding mechanism; 601. Sliding shaft; 602. Triangular groove; 603. Flexible bag; 604. Straight groove; 7. Shaking mechanism; 701. Elastic rod; 702. Crank rod; 703. Middle plate; 8. Track. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1 - Figure 8 As shown, the present invention is an intelligent inspection robot operation device for a transformer substation, comprising a main body 1 and a track 8, a disc groove 101 is provided on the top of the main body 1, a rectangular groove is provided on the top of the disc groove 101, the rectangular groove is connected to the disc groove 101, two arc grooves 102 are provided on the top of the main body 1, two arc grooves 103 are provided on the top of the main body 1, a sliding groove 105 is provided on one side of the rectangular groove close to the arc groove 102, a threaded rod 104 is rotatably connected inside the disc groove 101, a gear is fixedly connected to the right side of the threaded rod 104, the outer surface of the threaded rod 104 is rotatably connected to a limit plate, the bottom of the limit plate is fixedly connected to the bottom inner wall of the disc groove 101, the bottom of the main body 1 is fixedly connected to an electric telescopic rod, and the end of the electric telescopic rod away from the main body 1 is fixedly connected to a detection body, and also includes; The rotating mechanism 2 includes a toothed disc 201 rotatably connected to the inner wall of the bottom of the disc groove 101, two L-plates 202 are fixedly connected to the top of the toothed disc 201, a short rod is fixedly connected to the top of the L-plate 202, the short rod penetrates the outer wall of the arc-shaped groove 103 and extends to the outside, the extended end of the short rod is fixedly connected to the arc-shaped plate 203, and the side wall of the arc-shaped plate 203 is fixedly connected to the oblique groove; The moving mechanism 3 includes a hollow slider 301 slidably connected to the outer surface of the threaded rod 104, the inner wall of the hollow slider 301 is fixedly connected with a plug rod, the plug rod is slidably connected in the thread groove on the outer surface of the threaded rod 104, the side of the hollow slider 301 away from the gear is fixedly connected with two arc plates 302, the side of the arc plate 302 close to the threaded rod 104 is fixedly connected with a plurality of elastic plates 303, the plurality of elastic plates 303 are grouped in pairs and symmetrically distributed with the threaded rod 104 as the center, and the four elastic plates 303 are fixedly connected to each other. There is a sliding plate 304. When the main body 1 slides on the track 8, the arc plate 2 302 inside the main body 1 will slide backward inside the disc groove 101 through the friction between the arc plate 2 302 and the track 8 when the main body 1 moves. When the arc plate 2 302 moves backward, it will pull the return spring 1 through the hollow slider 301 to stretch it. Then, when the hollow slider 301 continues to slide with the arc plate 2 302, the sliding of the hollow slider 301 will push the spring rod 205 to slide inside the arc groove 1 102 through the rotating plate.

[0022] A long rod is slidably connected inside the inclined groove, and an end of the long rod away from the arc plate 203 is fixedly connected to an auxiliary plate 204, and an end of the auxiliary plate 204 away from the arc plate 203 is fixedly connected to a spring rod 205, and a rotating plate is fixedly connected to the bottom of the spring rod 205, and the top of the spring rod 205 penetrates the outer wall of the arc groove 102 and extends to the outside; Among them, the top of the toothed disc 201 is meshed with the gear. When the gear rotates, it will drive the L plate 202 to rotate through 201. When the L plate 202 rotates, it will drive the arc plate 203 to rotate. When the arc plate 203 rotates, it will drive the auxiliary plate 204 to slide downward through the inclined groove opened on its surface. When the auxiliary plate 204 slides downward, it will drive the limit ring 403 connected to it to rotate downward through the spring rod 205.

[0023] A return spring is fixedly connected to one side of the hollow slider 301 close to the limit plate, and one end of the return spring away from the hollow slider 301 is fixedly connected to the limit plate. A second return spring is fixedly connected to one side of the sliding plate 304 close to the hollow slider 301, and one end of the second return spring away from the sliding plate 304 is fixedly connected to the side wall of the hollow slider 301. A square plate 305 is fixedly connected to one side of the sliding plate 304 away from the threaded rod 104, and the square plate 305 is slidably connected to the inside of the sliding groove 105 at one side away from the sliding plate 304. Among them, the left and right sides of the hollow slider 301 are rotatably connected to the rotating plate. At the same time, when the hollow slider 301 slides, the sliding of the hollow slider 301 will slide in the threaded groove on the surface of the threaded rod 104 through the insertion rod on the inner wall. When the insertion rod inside the hollow slider 301 slides on the surface of the threaded rod 104, the threaded rod 104 will drive the gear to rotate along the sliding of the insertion rod when the hollow slider 301 slides.

[0024] An expansion mechanism 4 is provided at the top of the disc groove 101. The expansion mechanism 4 includes a plurality of elastic plates 401 arranged at the top of the main body 1. The plurality of elastic plates 401 are symmetrically distributed in a group of five with the threaded rod 104 as the center. The left and right sides of the elastic plates 401 are fixedly connected with connecting rods 402. One end of the plurality of connecting rods 402 away from the elastic plates 401 is rotatably connected to a limiting ring 403. The outer surfaces of the plurality of elastic plates 401 are fixedly connected with rubber rings 404. The side of the limiting ring 403 on the right side away from the rubber ring 404 is rotatably connected to a limiting strip 405. The bottom of the limit strip 405 is fixedly connected to the top outer wall of the main body 1, and the bottom of the limit ring 403 on the left is rotatably connected to the top of the spring rod 205. When the limit ring 403 rotates, it will drive the connecting rod 402 and the rubber ring 404 on the elastic plate 201 to contact the side wall of the track 8. Then, when the main body 1 stops moving and starts detection, the stopping of the main body 1 will cause the main body 1 to generate a forward sliding force under the action of inertia. When the main body 1 stops and suddenly slides forward, the sliding of the main body 1 will drive the arc plate 2 302 to slide backward instantly through friction.

[0025] The side wall of the rubber ring 404 is provided with an auxiliary mechanism 5, and the auxiliary mechanism 5 includes a tension spring fixedly connected to the side of the limit ring 403 close to the rubber ring 404, and a hollow cylinder 501 is fixedly connected between the two tension springs. A plurality of air inlet holes 504 are opened on the top outer wall of the hollow cylinder 501, and a plurality of air outlet pipes 502 are fixedly connected to the outer surface of the hollow cylinder 501. When the elastic rod 701 slides, the sliding of the elastic rod 701 will push the sliding shaft 601 to slide inside the hollow cylinder 501, and the sliding shaft 601 will drive the fixed ring to block the air inlet hole 504 when sliding.

[0026] One end of several air outlet pipes 502 away from the hollow cylinder 501 penetrates through the side wall of the left limiting ring 403 and extends to the outside, and the extended ends of several air outlet pipes 502 are fixedly connected to the air outlet ring 503, and the side of the air outlet ring 503 close to the air outlet pipe 502 is fixedly connected to the side wall of the left limiting ring 403, and the limiting ring 403 is connected to the interior of the hollow cylinder 501 through the air outlet pipe 502. When the gas is squeezed, it will enter the air outlet ring 503 through the air outlet pipe 502 and spray and clean the side wall of the track 8 through the air outlet ring 503.

[0027] A sliding mechanism 6 is provided inside the hollow cylinder 501, and the sliding mechanism 6 includes a sliding shaft 601 slidably connected to the inside of the hollow cylinder 501, a triangular groove 602 is provided inside the sliding shaft 601, a square groove is provided on the top of the triangular groove 602, a flexible bag 603 is fixedly connected inside the square groove, straight grooves 604 are provided on the front and back of the triangular groove 602, a fixing ring is fixedly connected to the outer surface of the sliding shaft 601, a return spring is fixedly connected to the side of the sliding shaft 601 away from the air outlet ring 503, and the side of the return spring away from the sliding shaft 601 is fixedly connected to the side wall of the hollow cylinder 501, and the sliding shaft 601 will drive the fixing ring to block the air inlet 504 when sliding, and at the same time, when the sliding shaft 601 moves, the sliding shaft 601 will squeeze the gas inside the hollow cylinder 501, and when the gas is squeezed, it will enter the air outlet ring 503 through the air outlet pipe 502 and spray and clean the side wall of the track 8 through the air outlet ring 503.

[0028] The interior of the triangular groove 602 is provided with a shaking mechanism 7, which includes a crank rod 702 slidably connected to the interior of the triangular groove 602, and the outer surface of the crank rod 702 is rotatably connected to an elastic rod 701, and one end of the crank rod 702 close to the straight groove 604 penetrates the outer wall of the straight groove 604 and extends to the outside, and the extended end of the crank rod 702 is rotatably connected to the inner wall of the hollow cylinder 501, and one end of the elastic rod 701 close to the air outlet ring 503 penetrates the outer wall of the hollow cylinder 501 and extends to the outside of the limit ring 403, and the extended end of the elastic rod 701 is semicircular and is located on the outer surface of the elastic rod 701 in the triangular groove 602. An intermediate plate 703 is rotatably connected, and one end of the intermediate plate 703 away from the elastic rod 701 is rotatably connected to the side wall of the flexible bag 603. When the elastic rod 701 slides, the side wall of the track 8 will squeeze the elastic rod 701. When the elastic rod 701 is squeezed, it will push the crank rod 702 to slide inside the triangular groove 602. When the elastic rod 701 slides, it will drive the crank rod 702 to rotate upward. When the elastic rod 701 rotates upward, it will pull the flexible bag 603 upward through the intermediate plate 703. When the flexible bag 603 moves upward, it will absorb external gas through the air inlet 504.

[0029] When in use, first connect the main body 1 to the track 8, and then start the main body 1 during inspection. When the main body 1 is started, the main body 1 will drive the detection body to move along the track of the track 8 through the electric telescopic rod. When the main body 1 moves to the position that needs to be detected, the electric telescopic rod will be controlled to drive the detection body to descend. When the detection body descends, it will detect the distribution box and transmit the detection data to the background in real time to achieve the purpose of inspection.

[0030] When the main body 1 slides on the track 8, the arc plate 2 302 inside the main body 1 will slide backward inside the disc groove 101 through the friction between the arc plate 2 302 and the track 8 when the main body 1 moves. When the arc plate 2 302 moves backward, it will pull the return spring 1 through the hollow slider 301 to stretch it. Then, when the hollow slider 301 continues to slide with the arc plate 2 302, the sliding of the hollow slider 301 will push the spring rod 205 to slide inside the arc groove 1 102 through the rotating plate. When the spring rod 205 slides under the push of the rotating plate, the two spring rods 2 05 will drive the limit ring 403 to contact the side wall of the track 8. At the same time, when the hollow slider 301 slides, the sliding of the hollow slider 301 will slide in the thread groove on the surface of the threaded rod 104 through the plug rod on the inner wall. When the plug rod inside the hollow slider 301 slides on the surface of the threaded rod 104, the threaded rod 104 will drive the gear to rotate along the sliding of the plug rod when the hollow slider 301 slides. When the gear rotates, it will drive the L plate 202 to rotate through 201. When the L plate 202 rotates, it will drive the arc plate 203 to rotate. When the arc plate 203 rotates, it will open the surface of the arc plate 203. The inclined groove drives the auxiliary plate 204 to slide downward. When the auxiliary plate 204 slides downward, it drives the limit ring 403 connected thereto to rotate downward through the spring rod 205. When the limit ring 403 rotates, it drives the connecting rod 402 and the rubber ring 404 on the elastic plate 201 to contact the side wall of the track 8. Then, when the main body 1 stops moving and starts detection, the stop of the main body 1 will cause the main body 1 to generate a forward sliding force under the action of inertia. When the main body 1 stops and suddenly slides forward, the sliding of the main body 1 will drive the arc plate 202 to slide backward for an instant through the friction force. When the arc plate 202 stops moving and starts detection, the main body 1 will stop moving and start detection. When the main body 1 stops moving and starts detection, the stop of the main body 1 will cause the main body 1 to generate a forward sliding force under the action of inertia. When the main body 1 stops moving and suddenly slides forward, the sliding of the main body 1 will drive the arc plate 202 to slide backward for an instant through the friction force. When the arc plate 202 stops moving and starts detection, the main body 1 will stop moving and start detection ... When the second plate 302 slides backward instantaneously, the hollow slider 301 will push the spring rod 205 to slide forward through the rotating plate. According to the same principle, the spring rod 205 will be pulled downward through the auxiliary plate 204 to drive the limit ring 403 to generate a downward force. At this time, when the limit ring 403 slides down, it will drive the connecting rod 402 and the rubber ring 404 to instantly squeeze the side wall of the track 8 and generate a reaction force in the opposite direction to the inertia force when the main body 1 stops, which can offset part of the shaking of the device due to inertia, thereby reducing the vibration of the device when it stops, thereby improving the accuracy and stability of the robot inspection.

[0031] When the arc plate 202 slides forward due to the inertia when it stops and pulls the limiting ring 403 through the spring rod 205, the limiting ring 403 will pull the elastic plate 201 through the connecting rod 402 after being pulled by the spring rod 205. Then, when the spring rod 205 drives the limiting ring 403 on the left to slide downward, the connecting rod 402 will drive the elastic plate 201 to squeeze the inner wall of the hollow cylinder 501. At the same time, when the connecting rod 402 pulls the elastic plate 201, the rubber ring 404 will bulge outward under the pulling of the connecting rod 402 and the squeezing of the hollow cylinder 501. At this time, the bulged rubber ring 404 can increase the friction between the side wall of the track 8 when the device stops and squeezes the side wall of the track 8. In this way, the stability of the main body 1 when it stops can be further enhanced by increasing the friction when the device stops for inspection, reducing the damage of internal electronic components caused by the shaking of the device, and at the same time, the efficiency and reliability of the inspection can be enhanced.

[0032] When the second arc plate 302 slides backward under the action of inertia, the second arc plate 302 will drive the sliding plate 304 to slide through the elastic plate 303. At this time, when the second arc plate 302 device slides, the inner wall of the disc groove 101 will squeeze the sliding plate 304 under the instantaneous sliding backward of the second arc plate 302. After being squeezed, the sliding plate 304 will push the elastic plate 303 to tilt backward. At this time, the two second arc plates 302 will no longer be supported outward by the elastic plate 303 when the sliding plate 304 slides backward. At this time, the reset spring 1 on the hollow slider 301 will pull the hollow slider 301 to reset under its own elasticity. When the hollow slider 301 is reset, it will drive the spring rod 205 along the guidance of the arc groove 1 102 through the rotating plate. When the spring rod 205 slides and expands backward, the sliding of the spring rod 205 will push the connecting rod 402 to move relatively and expand outward through the limiting ring 403. When the connecting rod 402 expands outward, the expansion of the connecting rod 402 will drive the rubber ring 404 to expand outward synchronously through the elastic plate 2 401. When the rubber ring 404 expands outward, it will contact the side wall of the track 8 and generate a lateral force in the direction of the track side wall. The lateral friction force generated when the rubber ring 404 squeezes the track 8 can reduce the sliding tendency of the main body 1 when it stops due to foreign particles on the track 8. At the same time, it can also improve the stopping accuracy of the device on the track 8, which is helpful for the accurate positioning of the main body 1 during inspection, thereby To ensure that the inspection can be carried out in accordance with the predetermined position and sequence, the accuracy of inspection data collection is improved. When the limit ring 403 on the left moves downward, the elastic rod 701 will contact the side wall of the track 8. Then, when the main body 1 moves, the sliding of the main body 1 will drive the elastic rod 701 to slide synchronously. When the elastic rod 701 slides, the side wall of the track 8 will squeeze the elastic rod 701. When the elastic rod 701 is squeezed, it will push the crank rod 702 to slide inside the triangular groove 602. When the elastic rod 701 slides, it will drive the crank rod 702 to rotate upward. When the elastic rod 701 rotates upward, it will pull the flexible bag 603 upward through the middle plate 703. When the flexible bag 603 moves upward, it will pass through the air inlet 5 04 adsorbs external gas so that the external gas enters the interior of the hollow cylinder 501. At the same time, when the elastic rod 701 slides, the sliding of the elastic rod 701 will push the sliding shaft 601 to slide inside the hollow cylinder 501. When the sliding shaft 601 slides, it will drive the fixed ring to block the air inlet 504. At the same time, when the sliding shaft 601 moves, the sliding shaft 601 will squeeze the gas inside the hollow cylinder 501. When the gas is squeezed, it will enter the air outlet ring 503 through the air outlet pipe 502 and spray the side wall of the track 8 through the air outlet ring 503 to clean it, thereby reducing the situation where the main body 1 runs poorly or slides on the track due to the presence of foreign particles, and reducing the situation where dust affects the inspection stability when the main body 1 moves.Improve inspection efficiency.

[0033] When the second curved plate 302 is moved back to the left, the second curved plate 302 is moved back to the right, and the second curved plate 302 is moved back to the right, so that ...

[0034] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A transformer substation intelligent inspection robot operation device, comprising a main body (1) and a track (8), wherein a disc groove (101) is provided on the top of the main body (1), a rectangular groove is provided on the top of the disc groove (101), the rectangular groove is connected to the disc groove (101), two arc grooves 1 (102) are provided on the top of the main body (1), two arc grooves 2 (103) are provided on the top of the main body (1), a sliding groove (105) is provided on a side of the rectangular groove close to the arc groove 1 (102), a threaded rod (104) is rotatably connected inside the disc groove (101), a gear is fixedly connected to the right side of the threaded rod (104), an outer surface of the threaded rod (104) is rotatably connected to a limit plate, the bottom of the limit plate is fixedly connected to the bottom inner wall of the disc groove (101), an electric telescopic rod is fixedly connected to the bottom of the main body (1), and a detection body is fixedly connected to the end of the electric telescopic rod away from the main body (1), characterized in that: Also includes; A rotating mechanism (2), the rotating mechanism (2) comprising a toothed disc (201) rotatably connected to the inner wall of the bottom of the circular disc groove (101), the top of the toothed disc (201) being fixedly connected to two L-plates (202), the top of the L-plate (202) being fixedly connected to a short rod, the short rod penetrating the outer wall of the second arc-shaped groove (103) and extending to the outside, the extended end of the short rod being fixedly connected to the arc-shaped plate (203), and the side wall of the arc-shaped plate (203) being fixedly connected to an inclined groove; A moving mechanism (3), the moving mechanism (3) comprising a hollow slider (301) slidably connected to the outer surface of a threaded rod (104), an inner wall of the hollow slider (301) being fixedly connected to an insertion rod, the insertion rod being slidably connected to a threaded groove on the outer surface of the threaded rod (104), two arc plates (302) being fixedly connected to a side of the hollow slider (301) away from the gear, a plurality of elastic plates (303) being fixedly connected to a side of the arc plate (302) close to the threaded rod (104), the plurality of elastic plates (303) being arranged in groups of two and symmetrically distributed around a threaded rod (104), and a sliding plate (304) being fixedly connected between four of the elastic plates (303).

2. According to claim 1, the intelligent inspection robot operation device for a transformer substation is characterized in that: A long rod is slidably connected inside the inclined groove, one end of the long rod away from the arc plate (203) is fixedly connected to an auxiliary plate (204), one end of the auxiliary plate (204) away from the arc plate (203) is fixedly connected to a spring rod (205), the bottom of the spring rod (205) is fixedly connected to a rotating plate, and the top of the spring rod (205) penetrates the outer wall of the arc groove (102) and extends to the outside; The top of the toothed disc (201) is meshedly connected with a gear.

3. According to claim 2, the intelligent inspection robot operation device for a transformer substation is characterized in that: A return spring is fixedly connected to a side of the hollow slider (301) close to the limit plate, and an end of the return spring away from the hollow slider (301) is fixedly connected to the limit plate; a second return spring is fixedly connected to a side of the sliding plate (304) close to the hollow slider (301), and an end of the second return spring away from the sliding plate (304) is fixedly connected to a side wall of the hollow slider (301); a square plate (305) is fixedly connected to a side of the sliding plate (304) away from the threaded rod (104); and a side of the square plate (305) away from the sliding plate (304) is slidably connected to the inside of the sliding groove (105); Wherein, the left side and the right side of the hollow sliding block (301) are both rotatably connected to the rotating plate.

4. The intelligent inspection robot operation device for a transformer substation according to claim 3 is characterized in that: An expansion mechanism (4) is arranged at the top of the disc groove (101), and the expansion mechanism (4) comprises a plurality of elastic plates (401) arranged at the top of the main body (1), the plurality of elastic plates (401) being arranged in groups of five and symmetrically distributed around the threaded rod (104), the left and right sides of the elastic plates (401) being fixedly connected with connecting rods (402), the ends of the plurality of connecting rods (402) being away from the elastic plates (401) being rotatably connected with limiting rings (403), the outer surfaces of the plurality of elastic plates (401) being fixedly connected with rubber rings (404), the side of the limiting ring (403) on the right side being away from the rubber ring (404) being rotatably connected with a limiting strip (405), the bottom of the limiting strip (405) being fixedly connected with the top outer wall of the main body (1), and the bottom of the limiting ring (403) on the left side being rotatably connected with the top of the spring rod (205).

5. The intelligent inspection robot operation device for a transformer substation according to claim 4 is characterized in that: The side wall of the rubber ring (404) is provided with an auxiliary mechanism (5), the auxiliary mechanism (5) comprising a tension spring fixedly connected to a side of the limit ring (403) close to the rubber ring (404), a hollow cylinder (501) fixedly connected between the two tension springs, a plurality of air inlet holes (504) being provided on the top outer wall of the hollow cylinder (501), and a plurality of air outlet pipes (502) being fixedly connected to the outer surface of the hollow cylinder (501).

6. The intelligent inspection robot operation device for a transformer substation according to claim 5 is characterized in that: One end of the plurality of air outlet pipes (502) away from the hollow cylinder (501) penetrates through the side wall of the left limiting ring (403) and extends to the outside; the extended ends of the plurality of air outlet pipes (502) are fixedly connected to the air outlet ring (503); a side of the air outlet ring (503) close to the air outlet pipe (502) is fixedly connected to the side wall of the left limiting ring (403); and the limiting ring (403) is connected to the interior of the hollow cylinder (501) through the air outlet pipe (502).

7. The intelligent inspection robot operation device for a transformer substation according to claim 6 is characterized in that: A sliding mechanism (6) is arranged inside the hollow cylinder (501), and the sliding mechanism (6) comprises a sliding shaft (601) slidably connected inside the hollow cylinder (501); a triangular groove (602) is provided inside the Susonghu sliding shaft (601); a square groove is provided at the top of the triangular groove (602); a flexible bag (603) is fixedly connected inside the square groove; straight grooves (604) are provided on the front and back of the triangular groove (602); a fixing ring is fixedly connected to the outer surface of the sliding shaft (601); a return spring is fixedly connected to the side of the sliding shaft (601) away from the air outlet ring (503); and the return spring is fixedly connected to the side wall of the hollow cylinder (501) on the side away from the sliding shaft (601).

8. The intelligent inspection robot operation device for a transformer substation according to claim 7 is characterized in that: A rocking mechanism (7) is provided inside the triangular groove (602), and the rocking mechanism (7) comprises a crank rod (702) slidably connected inside the triangular groove (602), an elastic rod (701) being rotatably connected to the outer surface of the crank rod (702), an end of the crank rod (702) close to the straight groove (604) penetrating the outer wall of the straight groove (604) and extending to the outside, and the extended end of the crank rod (702) is connected to the inner wall of the hollow cylinder (501). The elastic rod (701) is rotatably connected, one end of the elastic rod (701) close to the air outlet ring (503) penetrates the outer wall of the hollow cylinder (501) and extends to the outside of the limiting ring (403); the extended end of the elastic rod (701) is semicircular and located inside the triangular groove (602); the outer surface of the elastic rod (701) is rotatably connected to an intermediate plate (703); and one end of the intermediate plate (703) away from the elastic rod (701) is rotatably connected to the side wall of the flexible bag (603).

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